ros controller控制器小得

gripper_action_controller

在ros wiki上没有找到相关说明，之后查找：
https://answers.ros.org/question/198264/gripper_action_controller-configuration/
指出：

The gripper_action_controller supports single-actuator position- or
effort-controlled grippers. What you need to do to use this controller
is to expose the actuated joint of your gripper to your robot hardware
abstraction (hardware_interface::RobotHW). The joint should be
registered to the hardware_interface::PositionJointInterface if it’s
position-controlled, or to the
hardware_interface::EffortJointInterface if it’s effort-controlled.

A high-level overview of the ros_control concepts, including how to
expose joint resources to a RobotHW instance can be found in the
ROSCON 2014 talk (slides, video).

If you have further, more specific questions, don’t hesitate to come
back.